def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
speed = self._speed
time_left = self._duration - self._stopwatch.elapsed_time_in_secs()
if (time_left < self._ramp_threshold):
speed = speed * time_left / self._ramp_threshold
self.robot.drivetrain.arcade_drive(speed, 0.0)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
dpad_y = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.DPADY)
if dpad_y != 0.0:
self.robot.drivetrain.arcade_drive(self.DPAD_LINEAR_SPEED * dpad_y, 0.0)
else:
left_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.LEFTY)
right_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.RIGHTY)
self.robot.drivetrain.tankDrive(left_track, right_track)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
current = self.robot.drivetrain.get_gyro_angle()
degrees_left = self._target_degrees - current
if degrees_left >= 0:
direction = 1.0
else:
direction = -1.0
turn_speed = self._speed * direction
# Set drivetrain using speed and direction
self.robot.drivetrain.arcade_drive(0.0, turn_speed, False)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
current = self.robot.drivetrain.get_gyro_angle()
degrees_left = self._target_degrees - current
if (degrees_left) >= 0:
direction = 1.0
else:
direction = -1.0
turn_speed = self._speed * direction
if degrees_left < self._ramp_threshold:
turn_speed = turn_speed * (degrees_left) / self._ramp_threshold
# Set drivetrain using speed and direction
self.robot.drivetrain.arcade_drive(0.0, turn_speed)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
modifier = self.robot.oi.get_button_state(UserController.DRIVER, JoystickButtons.RIGHTTRIGGER)
dpad_y = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.DPADY)
if dpad_y != 0.0:
self.robot.drivetrain.arcade_drive(self._dpad_scaling * dpad_y, 0.0)
else:
left_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.LEFTY)
right_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.RIGHTY)
if modifier:
self.robot.drivetrain.tank_drive(self._stick_scaling * left_track, self._stick_scaling * right_track)
else:
self.robot.drivetrain.tank_drive(left_track, right_track)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
# Get encoder count
current = self.robot.drivetrain.get_encoder_value()
distance_left = self._target_position - current
# Determine direction using target and current encoder values
if distance_left >= 0:
direction = -1.0
else:
direction = 1.0
linear_drive_amount = self._speed * direction
# Set drivetrain using speed and direction
self.robot.drivetrain.arcade_drive(linear_drive_amount, 0.0, False)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
# Get encoder count
current = self.robot.drivetrain.get_encoder_value()
distance_left = self._target_position - current
# Determine direction using target and current encoder values
if (distance_left) >= 0:
direction = 1.0
else:
direction = -1.0
linear_drive_amount = self._speed * direction
if (distance_left < self._ramp_threshold):
linear_drive_amount = linear_drive_amount * (distance_left) / self._ramp_threshold
# Set drivetrain using speed and direction
self.robot.drivetrain.arcade_drive(linear_drive_amount, 0.0)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
speed = self._speed
self.robot.drivetrain.arcade_drive(speed, 0.0, False)
return Command.execute(self)